Pembroke Castle

Pembroke Castle is a major Norman fortress in Pembroke, a short drive south-east of Tenby and one of Wales's finest medieval castles. Well-behaved dogs on short leads are welcome throughout the grounds and most ground-level areas and they can join the guided tours too. The gift shop is excluded and the narrow spiral stairs to the top of the Great Keep and the Wogan Cave aren't advised for dogs, but there's still plenty to explore together.

The castle sits on a rocky outcrop with thick walls, towers and a vast inner ward. You can wander the battlements, peer into chambers and follow the outer curtain wall with your dog at your side, making it a genuine shared day out rather than a lead-and-wait scenario. There's no on-site parking, but nearby public car parks and a drop-off point serve the castle and disabled parking is available opposite in Long Entry car park.

Tickets can be bought on arrival or online and the café is open for visitors. It's a brilliant heritage stop that doesn't ask you to leave the dog behind.